Robot

Abstract

This robot includes an arm and a joint provided on one end portion of the arm, and either the arm or the joint is provided with an end effector driving source to operate an end effector mounted to the arm through the joint.

1 . A robot comprising:
 an arm;   a joint provided on one end portion of the arm; and   an end effector driving source operating an end effector mounted to the arm through the joint, provided in at least either the arm or the joint.   
     
     
         2 . The robot according to  claim 1 , wherein
 at least either the arm or the joint is provided with a joint driving source to operate the joint.   
     
     
         3 . The robot according to  claim 2 , wherein
 the joint driving source includes a first joint driving source and a second joint driving source, and   the end effector driving source, the first joint driving source, and the second joint driving source are provided in the arm.   
     
     
         4 . The robot according to  claim 3 , further comprising a drive transmission mechanism transmitting driving force of the end effector driving source to the end effector, wherein
 at least a part of the drive transmission mechanism is provided in the joint.   
     
     
         5 . The robot according to  claim 4 , wherein
 the joint is provided with a first rotation mechanism rotating the end effector about a first axis by driving force of the first joint driving source and a second rotation mechanism rotating the end effector about a second axis by driving force of the second joint driving source in addition to at least the part of the drive transmission mechanism.   
     
     
         6 . The robot according to  claim 4 , wherein
 the drive transmission mechanism is so provided that at least a portion thereof connected to the end effector is exposed from the joint.   
     
     
         7 . The robot according to  claim 5 , wherein
 the drive transmission mechanism includes a first driving portion provided on a side of the end effector driving source and a first follower rotated about a third axis by the first driving portion,   the second axis and the third axis are substantially orthogonal to the first axis while the first rotation mechanism rotates the end effector about the first axis, so that the second axis and the third axis are rotated about the first axis,   the second rotation mechanism includes a second driving portion provided on a side of the second joint driving source and a second follower rotated about the second axis by the second driving portion, and is so formed that the second follower rotates about the second axis to rotate the end effector about the second axis, and   the drive transmission mechanism is so formed that the first follower rotates about the third axis to transmit the driving force of the end effector driving source to the end effector.   
     
     
         8 . The robot according to  claim 7 , wherein
 the second axis and the third axis are arranged on a same axis, and   at least either the first follower of the drive transmission mechanism or the second follower of the second rotation mechanism is provided inside either the second follower or the first follower so that the first follower and the second follower are rotatable about the same axis.   
     
     
         9 . The robot according to  claim 8 , wherein
 the first driving portion of the drive transmission mechanism rotates about the first axis to rotate the first follower about the third axis, and   the second driving portion of the second rotation mechanism rotates about the first axis to rotate the second follower about the second axis.   
     
     
         10 . The robot according to  claim 3 , wherein
 the end effector driving source, the first joint driving source, and the second joint driving source are controlled by a common control apparatus.   
     
     
         11 . The robot according to  claim 1 , being a multi-axis robot capable of moving the end effector about six axes and capable of transmitting driving force of the end effector driving source provided in at least either the arm or the joint to the end effector. 
     
     
         12 . The robot according to  claim 7 , wherein
 the drive transmission mechanism has a deceleration function at a meshing portion of the first driving portion and the first follower, and   the second rotation mechanism has a deceleration function at a meshing portion of the second driving portion and the second follower.   
     
     
         13 . The robot according to  claim 12 , wherein
 the first driving portion of the drive transmission mechanism and the second driving portion of the second rotation mechanism are arranged on a same axis,   the first follower of the drive transmission mechanism and the second follower of the second rotation mechanism are arranged on a same axis,   the drive transmission mechanism has a deceleration function at the engaging portion of the first driving portion and the first follower, and   the second rotation mechanism has a deceleration function at the engaging portion of the second driving portion arranged on the same axis as the first driving portion and the second follower arranged on the same axis as the first follower.   
     
     
         14 . The robot according to  claim 7 , wherein
 the first rotation mechanism supports the first follower of the drive transmission mechanism and the second follower of the second rotation mechanism so as to allow the first follower and the second follower to rotate about the third axis and the second axis, respectively.   
     
     
         15 . The robot according to  claim 9 , wherein
 at least either the first driving portion of the drive transmission mechanism or the second driving portion of the second rotation mechanism is arranged inside either the second driving portion or the first driving portion.   
     
     
         16 . The robot according to  claim 1 , further comprising an end effector mounted to the arm through the joint. 
     
     
         17 . The robot according to  claim 16 , wherein
 at least either the arm or the joint is provided with a joint driving source to operate the joint.   
     
     
         18 . The robot according to  claim 17 , wherein
 the joint driving source includes a first joint driving source and a second joint driving source, and   the end effector driving source, the first joint driving source, and the second joint driving source are provided in the arm.   
     
     
         19 . The robot according to  claim 18 , further comprising a drive transmission mechanism transmitting driving force of the end effector driving source to the end effector, wherein
 at least a part of the drive transmission mechanism is provided in the joint.   
     
     
         20 . The robot according to  claim 19 , wherein
 the joint is provided with a first rotation mechanism rotating the end effector about a first axis by driving force of the first joint driving source and a second rotation mechanism rotating the end effector about a second axis by driving force of the second joint driving source in addition to at least the part of the drive transmission mechanism.